>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  head-control
        >>>  other-head-movements
        >>>  track-ball
        >>>  directed-scan-for-obstacles
        >>>  catch-and-release-ball

Option head-control

Selects between ball tracking and other movements

State Machine

This browser can't display the SVG file svg/option_head-control.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html

State other-head-movements

If that state is active,
 >  The option other-head-movement is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_head-control_state_other-head-movements.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (head-is-blocked)   // A special action or walk type uses the head
{
  
transition-to-state(other-head-movements);
}
else if (
(head-control-mode == search-auto)
|| 
(head-control-mode == search-for-ball)
|| 
(head-control-mode == search-for-ball-left)
|| 
(head-control-mode == search-for-ball-right)
)   // The head control mode is searchForBall or searchAuto
{
  
transition-to-state(track-ball);
}
else if (
(head-control-mode == catch-ball)
|| 
(head-control-mode == catch-ball-high)
|| 
(head-control-mode == release-caught-ball-when-turning-left)
|| 
(head-control-mode == release-caught-ball-when-turning-right)
)   // head control mode is catch-ball or release-ball-when...
{
  
transition-to-state(catch-and-release-ball);
}
else if (head-control-mode == directed-scan-for-obstacles)   //
{
  
transition-to-state(directed-scan-for-obstacles);
}
else if (
(
!(head-control-mode == search-auto)
)
&& 
(
!(head-control-mode == search-for-ball)
)
)   // The head control mode is not searchForBall and not searchAuto
{
  
transition-to-state(other-head-movements);
}
else
{
  
transition-to-state(other-head-movements);
}

State track-ball

If that state is active,
 >  The option track-ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_head-control_state_track-ball.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (head-is-blocked)   // A special action or walk type uses the head
{
  
transition-to-state(other-head-movements);
}
else if (
(head-control-mode == search-auto)
|| 
(head-control-mode == search-for-ball)
|| 
(head-control-mode == search-for-ball-left)
|| 
(head-control-mode == search-for-ball-right)
)   // The head control mode is searchForBall or searchAuto
{
  
transition-to-state(track-ball);
}
else if (
(head-control-mode == catch-ball)
|| 
(head-control-mode == catch-ball-high)
|| 
(head-control-mode == release-caught-ball-when-turning-left)
|| 
(head-control-mode == release-caught-ball-when-turning-right)
)   // head control mode is catch-ball or release-ball-when...
{
  
transition-to-state(catch-and-release-ball);
}
else if (head-control-mode == directed-scan-for-obstacles)   //
{
  
transition-to-state(directed-scan-for-obstacles);
}
else if (
(
!(head-control-mode == search-auto)
)
&& 
(
!(head-control-mode == search-for-ball)
)
)   // The head control mode is not searchForBall and not searchAuto
{
  
transition-to-state(other-head-movements);
}
else
{
  
transition-to-state(track-ball);
}

State directed-scan-for-obstacles

If that state is active,
 >  The basic behavior directed-scan-for-obstacles is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_head-control_state_directed-scan-for-obstacles.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (head-is-blocked)   // A special action or walk type uses the head
{
  
transition-to-state(other-head-movements);
}
else if (
(head-control-mode == search-auto)
|| 
(head-control-mode == search-for-ball)
|| 
(head-control-mode == search-for-ball-left)
|| 
(head-control-mode == search-for-ball-right)
)   // The head control mode is searchForBall or searchAuto
{
  
transition-to-state(track-ball);
}
else if (
(head-control-mode == catch-ball)
|| 
(head-control-mode == catch-ball-high)
|| 
(head-control-mode == release-caught-ball-when-turning-left)
|| 
(head-control-mode == release-caught-ball-when-turning-right)
)   // head control mode is catch-ball or release-ball-when...
{
  
transition-to-state(catch-and-release-ball);
}
else if (head-control-mode == directed-scan-for-obstacles)   //
{
  
transition-to-state(directed-scan-for-obstacles);
}
else if (
(
!(head-control-mode == search-auto)
)
&& 
(
!(head-control-mode == search-for-ball)
)
)   // The head control mode is not searchForBall and not searchAuto
{
  
transition-to-state(other-head-movements);
}
else
{
  
transition-to-state(directed-scan-for-obstacles);
}

State catch-and-release-ball

If that state is active,
 >  The option catch-and-release-ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_head-control_state_catch-and-release-ball.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (head-is-blocked)   // A special action or walk type uses the head
{
  
transition-to-state(other-head-movements);
}
else if (
(head-control-mode == search-auto)
|| 
(head-control-mode == search-for-ball)
|| 
(head-control-mode == search-for-ball-left)
|| 
(head-control-mode == search-for-ball-right)
)   // The head control mode is searchForBall or searchAuto
{
  
transition-to-state(track-ball);
}
else if (
(head-control-mode == catch-ball)
|| 
(head-control-mode == catch-ball-high)
|| 
(head-control-mode == release-caught-ball-when-turning-left)
|| 
(head-control-mode == release-caught-ball-when-turning-right)
)   // head control mode is catch-ball or release-ball-when...
{
  
transition-to-state(catch-and-release-ball);
}
else if (head-control-mode == directed-scan-for-obstacles)   //
{
  
transition-to-state(directed-scan-for-obstacles);
}
else if (
(
!(head-control-mode == search-auto)
)
&& 
(
!(head-control-mode == search-for-ball)
)
)   // The head control mode is not searchForBall and not searchAuto
{
  
transition-to-state(other-head-movements);
}
else
{
  
transition-to-state(catch-and-release-ball);
}